Scarfski/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3.git synced 2026-11-13 11:26:21 +00:00
Code Issues Packages Projects Releases Wiki Activity

prevent geometric collision for sleeping deformable objects

Browse Source
This commit is contained in:
Xuchen Han
2020-03-02 13:32:04 -08:00
parent c86da93d58
commit 2869a386a7
2 changed files with 50 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
+49 -26
View File
@@ -160,13 +160,17 @@ void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(btScalar tim
// refit the BVH tree for CCD
for (int i = 0; i < m_softBodies.size(); ++i)
{
m_softBodies[i]->updateFaceTree(true, false);
m_softBodies[i]->updateNodeTree(true, false);
for (int j = 0; j < m_softBodies[i]->m_faces.size(); ++j)
{
btSoftBody::Face& f = m_softBodies[i]->m_faces[j];
f.m_n0 = (f.m_n[1]->m_x - f.m_n[0]->m_x).cross(f.m_n[2]->m_x - f.m_n[0]->m_x);
}
btSoftBody* psb = m_softBodies[i];
if (psb->isActive())
{
m_softBodies[i]->updateFaceTree(true, false);
m_softBodies[i]->updateNodeTree(true, false);
for (int j = 0; j < m_softBodies[i]->m_faces.size(); ++j)
{
btSoftBody::Face& f = m_softBodies[i]->m_faces[j];
f.m_n0 = (f.m_n[1]->m_x - f.m_n[0]->m_x).cross(f.m_n[2]->m_x - f.m_n[0]->m_x);
}
}
}
// clear contact points & update DBVT
@@ -174,20 +178,24 @@ void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(btScalar tim
{
for (int i = 0; i < m_softBodies.size(); ++i)
{
// clear contact points in the previous iteration
m_softBodies[i]->m_faceNodeContacts.clear();
btSoftBody* psb = m_softBodies[i];
if (psb->isActive())
{
// clear contact points in the previous iteration
psb->m_faceNodeContacts.clear();
// update m_q and normals for CCD calculation
for (int j = 0; j < m_softBodies[i]->m_nodes.size(); ++j)
{
m_softBodies[i]->m_nodes[j].m_q = m_softBodies[i]->m_nodes[j].m_x + timeStep * m_softBodies[i]->m_nodes[j].m_v;
}
for (int j = 0; j < m_softBodies[i]->m_faces.size(); ++j)
{
btSoftBody::Face& f = m_softBodies[i]->m_faces[j];
f.m_n1 = (f.m_n[1]->m_q - f.m_n[0]->m_q).cross(f.m_n[2]->m_q - f.m_n[0]->m_q);
f.m_vn = (f.m_n[1]->m_v - f.m_n[0]->m_v).cross(f.m_n[2]->m_v - f.m_n[0]->m_v) * timeStep * timeStep;
}
// update m_q and normals for CCD calculation
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
psb->m_nodes[j].m_q = psb->m_nodes[j].m_x + timeStep * psb->m_nodes[j].m_v;
}
for (int j = 0; j < psb->m_faces.size(); ++j)
{
btSoftBody::Face& f = psb->m_faces[j];
f.m_n1 = (f.m_n[1]->m_q - f.m_n[0]->m_q).cross(f.m_n[2]->m_q - f.m_n[0]->m_q);
f.m_vn = (f.m_n[1]->m_v - f.m_n[0]->m_v).cross(f.m_n[2]->m_v - f.m_n[0]->m_v) * timeStep * timeStep;
}
}
}
// apply CCD to register new contact points
@@ -195,14 +203,23 @@ void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(btScalar tim
{
for (int j = i; j < m_softBodies.size(); ++j)
{
m_softBodies[i]->geometricCollisionHandler(m_softBodies[j]);
btSoftBody* psb1 = m_softBodies[i];
btSoftBody* psb2 = m_softBodies[j];
if (psb1->isActive() && psb2->isActive())
{
m_softBodies[i]->geometricCollisionHandler(m_softBodies[j]);
}
}
}
int penetration_count = 0;
for (int i = 0; i < m_softBodies.size(); ++i)
{
penetration_count += m_softBodies[i]->m_faceNodeContacts.size();
btSoftBody* psb = m_softBodies[i];
if (psb->isActive())
{
penetration_count += psb->m_faceNodeContacts.size();
}
}
if (penetration_count == 0)
{
@@ -212,19 +229,25 @@ void btDeformableMultiBodyDynamicsWorld::performGeometricCollisions(btScalar tim
// apply inelastic impulse
for (int i = 0; i < m_softBodies.size(); ++i)
{
m_softBodies[i]->applyRepulsionForce(timeStep, false);
btSoftBody* psb = m_softBodies[i];
if (psb->isActive())
{
psb->applyRepulsionForce(timeStep, false);
}
}
}
for (int i = 0; i < m_softBodies.size(); ++i)
{
btSoftBody* psb = m_softBodies[i];
if (psb->m_usePostCollisionDamping)
if (psb->isActive() && psb->m_usePostCollisionDamping)
{
for (int j = 0; j < psb->m_nodes.size(); ++j)
{
if (!psb->m_nodes[j].m_constrained)
psb->m_nodes[j].m_v *= psb->m_dampingCoefficient;
if (!psb->m_nodes[j].m_constrained)
{
psb->m_nodes[j].m_v *= psb->m_dampingCoefficient;
}
}
}
}
src/BulletSoftBody/btSoftBody.cpp
+1 -1
View File
@@ -215,7 +215,7 @@ void btSoftBody::initDefaults()
m_windVelocity = btVector3(0, 0, 0);
m_restLengthScale = btScalar(1.0);
m_dampingCoefficient = 1.0;
m_sleepingThreshold = 0.1;
m_sleepingThreshold = .8;
m_useFaceContact = true;
m_useSelfCollision = false;
m_usePostCollisionDamping = false;